Package Summary

Tags No category tags.
Version 0.1.3
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros2_control.git
VCS Type git
VCS Version master
Last Updated 2021-01-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ROS 2 command line tools for ROS2 Control.

Additional Links

No additional links.

Maintainers

  • Victor Lopez

Authors

No additional authors.

ros2controlcli

Command line interface for controller manager

Verbs

list

$ ros2 control list -h
usage: ros2 control list [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Output the list of loaded controllers, their type and status

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

$ ros2 control list 
test_controller_name[test_controller]    active 

list_types

$ ros2 control list_types -h
usage: ros2 control list_types [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Output the available controller types and their base classes

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

$ ros2 control list_types 
diff_drive_controller/DiffDriveController                              controller_interface::ControllerInterface
joint_state_controller/JointStateController                            controller_interface::ControllerInterface
joint_trajectory_controller/JointTrajectoryController                  controller_interface::ControllerInterface
test_controller      

load

$ ros2 control load -h
usage: ros2 control load [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name

Load a controller in a controller manager

positional arguments:
  controller_name       Name of the controller

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

reload_libraries

$ ros2 control reload_libraries -h
usage: ros2 control reload_libraries [-h] [--spin-time SPIN_TIME] [--force-kill] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Reload controller libraries

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  --force-kill          Force stop of loaded controllers
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

switch

$ ros2 control switch -h
usage: ros2 control switch [-h] [--spin-time SPIN_TIME] [--no-daemon] [--stop-controllers [STOP_CONTROLLERS [STOP_CONTROLLERS ...]]]
                           [--start-controllers [START_CONTROLLERS [START_CONTROLLERS ...]]] [--strict] [--start-asap]
                           [--switch-timeout SWITCH_TIMEOUT] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]

Switch controllers in a controller manager

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  --stop-controllers [STOP_CONTROLLERS [STOP_CONTROLLERS ...]]
                        Name of the controllers to be stopped
  --start-controllers [START_CONTROLLERS [START_CONTROLLERS ...]]
                        Name of the controllers to be started
  --strict              Strict switch
  --start-asap          Start asap controllers
  --switch-timeout SWITCH_TIMEOUT
                        Timeout for switching controllers
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

unload

$ ros2 control unload -h
usage: ros2 control unload [-h] [--spin-time SPIN_TIME] [--no-daemon] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name

Unload a controller in a controller manager

positional arguments:
  controller_name       Name of the controller

optional arguments:
  -h, --help            show this help message and exit
  --spin-time SPIN_TIME
                        Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                        Name of the controller manager ROS node
  --include-hidden-nodes
                        Consider hidden nodes as well

CHANGELOG

Changelog for package ros2controlcli

0.1.3 (2021-01-21)

0.1.2 (2021-01-06)

0.1.1 (2020-12-23)

0.1.0 (2020-12-22)

  • Add configure controller service (#272)
  • Use resource manager (#236)
  • Add cli interface (#176)
  • Contributors: Bence Magyar, Denis

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

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Messages

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Services

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Plugins

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